Fix panda code merging issue (p2)

rafcabezas · Dec 21, 2020 · 97f29e6 · 97f29e6
1 parent 3a72ea5
commit 97f29e6
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Showing 2 changed files with 15 additions and 6 deletions.
diff --git a/panda/board/main.c b/panda/board/main.c
@@ -485,6 +485,8 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
     case 0xde:
       if (setup->b.wValue.w < BUS_MAX) {
         can_speed[setup->b.wValue.w] = setup->b.wIndex.w;
+        can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
+        /* Tesla branch commented out:
         bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
         UNUSED(ret);
       }
@@ -496,6 +498,7 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp, bool hardwired)
           (current_safety_mode == SAFETY_NOOUTPUT) ||
           (current_safety_mode == SAFETY_ELM327)) {
         unsafe_mode = setup->b.wValue.w;
+      */
       }
       break;
     // **** 0xe0: uart read
@@ -725,6 +728,8 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
         heartbeat_counter += 1U;
       }
 
+    //BB we do not want to disable safety mode when on tesla
+    /*
       #ifdef EON
       // check heartbeat counter if we are running EON code.
       // if the heartbeat has been gone for a while, go to SILENT safety mode and enter power save
@@ -755,6 +760,7 @@ void TIM1_BRK_TIM9_IRQ_Handler(void) {
         current_board->set_usb_power_mode(USB_POWER_CDP);
       }
       #endif
+    */
 
       // check registers
       check_registers();
@@ -848,7 +854,7 @@ int main(void) {
 
   // init to SILENT and can silent
   //set_safety_mode(SAFETY_SILENT, 0);
-  set_safety_mode2(SAFETY_TESLA,0 );
+  set_safety_mode2(SAFETY_TESLA, 0);
 
   // enable CAN TXs
   current_board->enable_can_transceivers(true);

diff --git a/panda/board/safety.h b/panda/board/safety.h
@@ -271,7 +271,13 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
 int set_safety_hooks2(uint16_t mode, int16_t param) {
   // reset state set by safety mode
   safety_mode_cnt = 0U;  // reset safety mode timer
-    relay_malfunction = false;
+
+  //BB prevent resetting if already in the correct mode
+  if ((mode > 0) && (current_safety == mode)) {
+    return 1;
+  }
+
+  relay_malfunction = false;
   gas_interceptor_detected = false;
   gas_interceptor_prev = 0;
   gas_pressed = false;
@@ -296,10 +302,7 @@ int set_safety_hooks2(uint16_t mode, int16_t param) {
 
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);
-  //BB prevent resetting if already in the correct mode
-  if ((mode > 0) && (current_safety == mode)) {
-    return 1;
-  }
+
   for (int i = 0; i < hook_config_count; i++) {
     if (safety_hook_registry[i].id == mode) {
       current_hooks = safety_hook_registry[i].hooks;